Struct ContactData 

pub struct ContactData {
    pub impulse: f32,
    pub tangent_impulse: TangentImpulse<f32>,
    pub warmstart_impulse: f32,
    pub warmstart_tangent_impulse: TangentImpulse<f32>,
    pub solver_dp1: Vector,
    pub solver_dp2: Vector,
}

A single contact between two collider.

Fields

impulse: f32

The impulse, along the contact normal, applied by this contact to the first collider’s rigid-body.

The impulse applied to the second collider’s rigid-body is given by -impulse.

tangent_impulse: TangentImpulse<f32>

The friction impulse along the vector orthonormal to the contact normal, applied to the first collider’s rigid-body.

warmstart_impulse: f32

The impulse retained for warmstarting the next simulation step.

warmstart_tangent_impulse: TangentImpulse<f32>

The friction impulse retained for warmstarting the next simulation step.

solver_dp1: Vector

The solver’s lever arm for the first body: contact point relative to the body’s CoM, in world space, frozen at the pair’s last full narrow-phase update (anchor freezing) and used verbatim while recycled. Load-bearing for tall-stack stability: re-linearizing the arms every step under heavy warm-started impulses is a state- proportional energy pump (lean mode). Separations still track the bodies’ rigid motion.

solver_dp2: Vector

The solver’s lever arm for the second body (see Self::solver_dp1).

Trait Implementations

impl Clone for ContactData

fn clone(&self) -> ContactData

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for ContactData

impl Debug for ContactData

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for ContactData

fn default() -> Self

Returns the “default value” for a type.